CN113310431B - Four-frame rapid three-dimensional measurement method based on phase coding - Google Patents
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- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B11/00—Measuring arrangements characterised by the use of optical techniques
- G01B11/24—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures
- G01B11/25—Measuring arrangements characterised by the use of optical techniques for measuring contours or curvatures by projecting a pattern, e.g. one or more lines, moiré fringes on the object
- G01B11/254—Projection of a pattern, viewing through a pattern, e.g. moiré
Abstract
The invention discloses a four-frame rapid three-dimensional measurement method based on phase encoding, which consists of three key parts, namely a phase shift method principle, a quantization phase encoding method principle and a phase unwrapping principle. The method comprises the following specific steps: generating three sinusoidal fringe patterns and one phase encoding pattern by using a computer; a specific coding sequence is designed on (0, pi) to modulate the quantization coding phase, and the specific coding sequence can effectively improve the decoding accuracy while increasing the number of code words; solving the wrapping phase by using three sinusoidal fringe patterns, and solving the step phase by using a phase coding fringe pattern embedded into a specific coding sequence; and connecting the segmented stripe levels by using a specific algorithm, and finally recovering correct continuous stripe levels to further obtain the absolute phase of the object. The invention can realize the three-dimensional reconstruction of the object by only four images, greatly improves the measurement speed and has potential application prospect and practical value in the fields of rapid measurement and dynamic measurement.
Description
Technical Field
The invention relates to an optical three-dimensional reconstruction measuring method of phase encoding, belongs to the technical field of photoelectric detection, and particularly relates to a four-frame rapid three-dimensional measuring method based on phase encoding.
Technical Field
The requirements of various modern industries and fields on accurately and quickly acquiring the three-dimensional shape of an object are increasing day by day, and the three-dimensional shape measurement technology plays an important role in various fields from manufacturing to medicine and the like. Among many methods for acquiring three-dimensional information of an object, an optical three-dimensional measurement technique is widely used due to its advantages of non-contact property, high resolution and high speed, and is gradually becoming a trend in the field of three-dimensional topography measurement. With the rise of optoelectronic technologies, optical detection has been developed as a technology that is mainly optical and closely intersects and interpenetrates with disciplines such as information science, space science, precision instrument manufacturing, computer science, and the like.
Through the analysis and research on the current research situation and development trend at home and abroad, the traditional three-dimensional measurement technology is developed more mature, but the rapid and high-precision measurement technology of the three-dimensional appearance of an object is a challenging task. Fast, real-time and high precision three-dimensional measurements have become important in many application areas in recent years, for example: the method has wide application in industrial detection and manufacture, virtual reality, biological medical treatment, reverse engineering and other aspects. Therefore, how to perform fast, real-time and high-precision three-dimensional measurement has become an interest and a hotspot of current research, namely: how to accurately solve the absolute phase of the object to be measured by adopting fewer fringe projection drawings. In the traditional phase coding measurement method, at least six fringe images are needed to solve the absolute phase, the data processing time of the image information is long, and the measurement speed is greatly reduced.
The invention provides a four-frame rapid three-dimensional measurement method based on phase coding, which relates to a rapid phase unwrapping method, can solve an absolute phase by only needing four fringe patterns, and has higher measurement speed compared with the traditional phase coding method. Secondly, the method designs a specific coding sequence modulation quantization coding phase in (0, pi), increases the number of code words, effectively improves the accuracy of decoding, and has potential application prospect and practical value in the fields of rapid measurement and dynamic measurement.
Disclosure of Invention
The invention aims to provide a four-frame rapid three-dimensional measurement method based on phase coding, and relates to a rapid phase unwrapping method.
In order to achieve the purpose, the invention adopts the following technical scheme that the method comprises the following steps:
the method comprises the following steps: generating three sine stripe graphs and one phase coding stripe graph by using a computer;
step two: the method comprises the steps that (0, pi) a specific coding sequence is used for modulating and quantifying a coding phase, the specific coding sequence is embedded into a phase coding fringe pattern, and a sinusoidal fringe pattern and a phase coding fringe pattern projected onto a measured object are collected through a camera;
step three: obtaining a wrapping phase of an object by using three sinusoidal fringe patterns, obtaining a step phase by using a phase coding fringe pattern embedded into a specific coding sequence, connecting subsection fringe levels by using a specific algorithm, finally recovering a correct continuous fringe level, and further obtaining an absolute phase of the object;
step four: and obtaining the true height information of the object by using a phase-height formula through the obtained absolute phase.
Preferably, the first step is specifically: generating three phase shifts by a computer, and respectively generating three sine stripe patterns I with the phase shifts of-2 pi/3, 0 and 2 pi/3 by the computer 1 (x,y)、I 2 (x,y)、I 3 (x, y) and a phase-encoded fringe pattern I 4 (x, y), the optical expressions of the three sinusoidal fringe patterns and the phase-coding fringe pattern are respectively:
I 4 (x,y)＝A(x,y)+B(x,y)cos(φ s (x,y)) (4)
wherein A (x, y) is the average intensity, B (x, y) is the modulation intensity,
to wrap the phase, phi s (x, y) is the code phase.
Preferably, in the second step, the specific coding sequence CS embedded in the one phase-coded fringe pattern is designed as follows:
CS＝"024130241302413......" (5)
ensuring the difference between adjacent code words to be more than or equal to 2, modulating the quantization phase by using a specific coding sequence CS, and embedding the coding phase phi of the specific sequence s (x, y) can be expressed by equation (6):
where L denotes the quantization level, L =5, x is the resolution in the horizontal direction of the projector, p is the fringe spacing or number of pixels per fringe period, floor [ x ] is the rounding function, CS [ x ] is the xth codeword of the particular coding sequence being designed.
Preferably, the third step is specifically: using three sine stripe patterns to obtain average intensity A (x, y), modulation intensity B (x, y) and wrapping phase
The expressions are respectively:
A(x,y)＝(I 1 (x,y)+I 2 (x,y)+I 3 (x,y))/3 (7)
B(x,y)＝[(I 1 (x,y)-I 3 (x,y)) 2 /3+(2I 2 (x,y)-I 1 (x,y)-I 3 (x,y)) 2 /9] 1/2 (8)
obtaining a step phase phi by using a phase-encoded fringe pattern embedded in a specific code sequence s' (x, y) expressed as:
the returned codeword is determined using equation (11), which is expressed as:
C(x,y)＝round[L×φ s' (x,y)/π] (11)
determining the segmentation stripe order by using the formula (12), wherein the expression is as follows:
and then connecting the segmentation stripe levels by using a formula (13), wherein the expression is as follows:
wherein k is 2 (x, y) is the sub-region sequence number to which the (x, y) th pixel belongs, k 1 (x, y) is the stripe level sequence number corresponding to the (x, y) th pixel of each row;
k by solving 1 (x, y) and k 2 (x, y), and obtaining a final correct continuous stripe order k (x, y) by using the formula (14), wherein the expression of the order is as follows:
k(x,y)＝k 1 (x,y)+L×k 2 (x,y) (14)
and solving the final absolute phase by using the formula (15) according to the solved fringe order k (x, y), wherein the expression is as follows:
preferably, the step four specifically comprises: and C, performing phase-height conversion through the absolute phase obtained in the step three, and obtaining the real height information of the object to be measured by using a formula (16), wherein the expression is as follows:
wherein f is 0 And the frequency of the sine stripes on the reference plane, delta phi is the absolute phase difference between the surface of the object to be measured and the corresponding point of the reference plane, d is the distance between the projector and the camera, and l is the distance between the projector and the camera and the reference plane.
The invention has the advantages that:
1. compared with the traditional phase encoding method, the invention has the following advantages: the traditional phase coding method can reconstruct the three-dimensional appearance of the object only by six images, and the invention can acquire the real three-dimensional appearance of the object only by four images, and has higher measuring speed and more code words compared with the traditional method;
2. the invention uses the specific sequence to modulate the quantized coding phase, so that the difference between adjacent code words is more than or equal to 2, the decoding precision is improved, the number of the code words is improved by using a segmented coding method, and the problem that the stripe level makes mistakes at a 2 pi phase jump point is effectively solved;
3. because the number of the projection fringe images is small, the measurement speed is high, and the method has potential application prospect and practical value in the rapid and real-time measurement of the dynamic object.
Drawings
FIG. 1 is a schematic view of a measurement system for three-dimensional measurement according to the present invention;
FIG. 2a, FIG. 2b, FIG. 2c and FIG. 2d are three sinusoidal fringe patterns and one phase-encoded fringe pattern generated in the embodiment of the present invention, wherein FIG. 2a is a sinusoidal fringe pattern I 1 (x, y), FIG. 2b is a sine stripe diagram I 2 (x, y), FIG. 2c is a sine stripe diagram I 3 (x, y), FIG. 2d is a phase-encoded fringe pattern I 4 (x,y)；
FIG. 3 illustrates a row of wrapped phases and encoded phases of an object under test in accordance with an embodiment of the present invention;
FIG. 4 is a row of the wrapping phase and fringe order of the object under test in an embodiment of the present invention;
FIG. 5 is a diagram of the absolute phase of an object under test in an embodiment of the invention.
Detailed Description
The following detailed description and the accompanying drawings are merely illustrative of technical aspects of the present invention according to the technical aspects of the present invention, and should not be construed as all of the present invention or as limitations or limitations on the technical aspects of the present invention. The present invention will be described in further detail with reference to the following description of the drawings, which are not intended to limit the present invention, and all similar structures and similar variations using the present invention shall fall within the scope of the present invention.
As shown in fig. 1, the optical fringe projection measurement system based on the phase-coded four-frame rapid three-dimensional measurement method of the present invention includes a DLP projector 1, a CCD camera 2, a workstation 3, a measurement metal support 4, a reference plane 5, and an object to be measured 6. The DLP projector 1 and the CCD camera 2 are fixed on a measuring metal bracket 4; the DLP projector 1 and the CCD camera 2 are respectively connected with the workstation 3 through data lines; the object 6 to be measured is placed on the reference plane 5; the workstation 3 comprises an image acquisition card, projection software and measurement software. The DLP projector 1 focuses and projects the stripes with the characteristic information onto the surface of a measured object 6, the CCD camera 2 collects the deformed stripes modulated by the object, the characteristic information is extracted after the deformed stripes are processed by the workstation 3, and three-dimensional reconstruction is carried out according to a specific algorithm.
The invention relates to a four-frame rapid three-dimensional measurement method based on phase coding, which comprises the following specific implementation modes:
the method comprises the following steps: generating three sine stripe graphs and one phase coding stripe graph by using a computer;
step two: the method comprises the steps that (0, pi) a specific coding sequence is used for modulating and quantifying a coding phase, the specific coding sequence is embedded into a phase coding fringe pattern, and a sinusoidal fringe pattern and a phase coding fringe pattern projected onto a measured object are collected through a camera;
step three: obtaining a wrapping phase of the object by using three sinusoidal fringe patterns, obtaining a step phase by using a phase coding fringe pattern embedded into a specific coding sequence, connecting subsection fringe levels by using a specific algorithm, finally recovering a correct continuous fringe level, and further obtaining an absolute phase of the object;
step four: and obtaining the true height information of the object by using a phase-height formula through the obtained absolute phase.
The specific implementation method of the first step comprises the following steps:
three phase shifts generated by a computer are respectively used for generating three sine stripe patterns I with the phase shifts of-2 pi/3, 0 and 2 pi/3 1 (x,y)、I 2 (x,y)、I 3 (x, y) and a phase-encoded fringe pattern I 4 (x, y) the optical expressions of the three sinusoidal and phase-encoded fringe patterns are:
wherein A (x, y) is the average intensity, B (x, y) is the modulation intensity,
to wrap the phase, phi s (x, y) is the code phase.
The specific implementation method of the second step comprises the following steps:
the specific coding sequence CS embedded in the phase coding fringe pattern is designed as follows:
CS＝"024130241302413......" (5)
ensuring that the difference between adjacent code words is more than or equal to 2, and modulating the quantization phase by using a specific coding sequence CS;
the code phase phi of the embedded specific sequence s (x, y) can be expressed by equation (6):
where L denotes the quantization level, L =5, x is the resolution in the horizontal direction of the projector, p is the fringe spacing or number of pixels per fringe period, floor [ x ] is the rounding function, CS [ x ] is the xth codeword of the particular coding sequence being designed.
The concrete implementation method of the third step comprises the following steps:
using three sinusoidal fringe patterns to obtain average intensity A (x, y), modulation intensity B (x, y), and wrapping phase
The expressions are respectively:
A(x,y)＝(I 1 (x,y)+I 2 (x,y)+I 3 (x,y))/3 (7)
B(x,y)＝[(I 1 (x,y)-I 3 (x,y)) 2 /3+(2I 2 (x,y)-I 1 (x,y)-I 3 (x,y)) 2 /9] 1/2 (8)
obtaining a step phase phi by using a phase-encoded fringe pattern embedded in a specific code sequence s' (x, y) respectively expressed as:
the returned codeword is determined using equation (11), which is expressed as:
C(x,y)＝round[L×φ s' (x,y)/π] (11)
determining the segmentation stripe order by using formula (12), wherein the expression is as follows:
and then connecting the segmentation stripe levels by using a formula (13), wherein the expression is as follows:
wherein k is 2 (x, y) is the sub-region sequence number to which the (x, y) th pixel belongs, k 1 (x, y) is the stripe level sequence number corresponding to the (x, y) th pixel of each row;
k by solving 1 (x, y) and k 2 (x, y), the final correct continuous stripe order k (x, y) is obtained by using the formula (14), and the expression is as follows:
k(x,y)＝k 1 (x,y)+L×k 2 (x,y) (14)
and solving the final absolute phase by using the formula (15) according to the solved fringe order k (x, y), wherein the expression is as follows:
the concrete implementation method of the fourth step comprises the following steps:
and performing phase-height conversion through the obtained absolute phase, and obtaining the real height information of the object to be measured by using a formula (16), wherein the expression is as follows:
wherein f is 0 And the frequency of the sine stripes on the reference plane, delta phi is the absolute phase difference between the surface of the object to be measured and the corresponding point of the reference plane, d is the distance between the projector and the camera, and l is the distance between the projector and the camera and the reference plane.
Without being limited thereto, any changes or substitutions that are not thought of through the inventive work should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope defined by the claims.
Claims (1)
1. A four-frame rapid three-dimensional measurement method based on phase coding is characterized in that:
the method comprises the following steps: generating three sine stripe graphs and one phase coding stripe graph by using a computer;
step two: modulating and quantizing the coding phase on (0, pi) by using a preset coding sequence, embedding the coding sequence into a phase coding fringe pattern, and acquiring a sinusoidal fringe pattern and a phase coding fringe pattern projected onto a measured object by using a camera;
step three: obtaining the wrapping phase of the object by using the three sinusoidal fringe patterns; obtaining a step phase by utilizing a phase coding fringe pattern, then carrying out backward solution to obtain an original preset code word, determining the segmented fringe levels after modulation and quantization one by one, and then connecting segmented parts one by one to recover the correct continuous fringe level;
step four: performing phase unwrapping by using the wrapped phase and the continuous fringe order to obtain the absolute phase of the object;
step five: and obtaining the real height information of the object by using the phase-height formula conversion through the obtained absolute phase.
The specific implementation mode is as follows:
the first step is specifically as follows: three sine stripe patterns I with phase shifts of-2 pi/3, 0 and 2 pi/3 are generated by a computer 1 (x,y)、I 2 (x,y)、I 3 (x, y) and a phase-encoded fringe pattern I 4 (x, y), the optical expressions of the three sinusoidal fringe patterns and the phase-coding fringe pattern are respectively:
I 4 (x,y)＝A(x,y)+B(x,y)cos(φ s (x,y)) (4)
wherein A (x, y) is the average intensity, B (x, y) is the modulation intensity,
to wrap the phase phi s (x, y) is the code phase.
The second step is specifically as follows: the preset code sequence CS embedded in the phase-coded fringe pattern is designed to:
CS＝"024130241302413......" (5)
ensuring that the difference between adjacent code words is more than or equal to 2, and modulating the quantization phase by using a specific coding sequence CS;
the code phase phi embedded in the preset code sequence and modulated thereby s (x, y) can be expressed by equation (6):
where L denotes the quantization level, L =5, x is the resolution in the horizontal direction of the projector, p is the fringe spacing or number of pixels per fringe period, floor [ x ] is the rounding function, CS [ x ] is the xth codeword of the particular coding sequence being designed.
The third step is specifically as follows: using three sine stripe patterns to obtain average intensity A (x, y), modulation intensity B (x, y) and wrapping phase
The expressions are respectively:
A(x,y)＝(I 1 (x,y)+I 2 (x,y)+I 3 (x,y))/3 (7)
B(x,y)＝[(I 1 (x,y)-I 3 (x,y)) 2 /3+(2I 2 (x,y)-I 1 (x,y)-I 3 (x,y)) 2 /9] 1/2 (8)
obtaining a step phase phi by using a phase encoded fringe pattern embedded in a specific encoded sequence s' (x, y) expressed as:
determining the original preset codeword C (x, y) of the returned solution by using the formula (11), wherein the expression is as follows:
C(x,y)＝round[L×φ s' (x,y)/π] (11)
determining the corresponding modulation quantized segmented stripe order by using formula (12), wherein the expression is as follows:
and then connecting the segmentation stripe levels by using a formula (13), wherein the expression is as follows:
wherein k is 2 (x, y) is the sub-region sequence number to which the (x, y) th pixel belongs, k 1 (x, y) is the segment stripe level sequence number corresponding to the (x, y) th pixel of each row;
k by solving 1 (x, y) and k 2 (x, y), the final correct continuous stripe order k (x, y) is obtained by using the formula (14), and the expression is as follows:
k(x,y)＝k 1 (x,y)+L×k 2 (x,y) (14)
the fourth step is specifically as follows: by solving the continuous stripe order k (x, y) and the wrapping phase
The final absolute phase is solved by equation (15), which is expressed as:
the fifth step is specifically as follows: and performing phase-height conversion through the obtained absolute phase, and obtaining the real height information of the object to be measured by using a formula (16), wherein the expression is as follows:
wherein f is 0 Is the frequency of the sine stripe on the reference plane, delta phi is the absolute phase difference of the corresponding points of the surface of the object to be measured and the reference plane, d is the distance between the projector and the camera and l is the distance of the projector and the camera from the reference plane.
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Effective date of registration: 20231115 Address after: Room 101, No. 68 Yongwei Road, Baizhou Bian, Dongcheng Street, Dongguan City, Guangdong Province, 523113 Patentee after: DONGGUAN POMEAS PRECISION INSTRUMENT CO.,LTD. Address before: 330000 household 203, unit 2, building 11, No. 101, Shanghai Road, Qingshanhu District, Nanchang City, Jiangxi Province Patentee before: Fu Yanjun |